Getting Started

Start by cloning the repository:

git clone https://github.com/EGalahad/sim2real

sim2real is split into two environments:

• The root project is for policy inference, MuJoCo simulation, and the real bridge.
• venv/teleop is for Pico / XR retargeting, realtime viewing, and motion recording.

This project supports two hardware layouts:

• PC (x86_64) running the pipeline while controlling G1 over Ethernet.
• G1 onboard Orin running the entire pipeline locally on the robot.

Next Steps

• Use Root Project if you only need policy, sim2sim, or the real bridge runtime.
• Use Teleop Project (x86_64 PC) if Pico / XR tools run on a laptop or desktop.
• Use Teleop Project (Onboard Orin) if teleop tooling runs on the robot.